hpp::core::ConfigValidation Class Referenceabstract

Abstraction of configuration validation. More...

#include <hpp/core/config-validation.hh>

Inheritance diagram for hpp::core::ConfigValidation:

Public Member Functions

virtual bool validate (const Configuration_t &config, bool throwIfInValid)=0
 Compute whether the configuration is valid. More...
 
virtual bool validate (const Configuration_t &config, ValidationReport &validationReport, bool throwIfInValid)=0
 Compute whether the configuration is valid. More...
 
virtual void addObstacle (const CollisionObjectPtr_t &)
 Add an obstacle. More...
 
virtual void removeObstacleFromJoint (const JointPtr_t &, const CollisionObjectPtr_t &)
 Remove a collision pair between a joint and an obstacle. More...
 

Protected Member Functions

 ConfigValidation ()
 

Detailed Description

Abstraction of configuration validation.

Instances of this class validate configurations with respect to some criteria

Constructor & Destructor Documentation

◆ ConfigValidation()

hpp::core::ConfigValidation::ConfigValidation ( )
inlineprotected

Member Function Documentation

◆ addObstacle()

virtual void hpp::core::ConfigValidation::addObstacle ( const CollisionObjectPtr_t )
inlinevirtual

Add an obstacle.

Parameters
objectobstacle added collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles.

Reimplemented in hpp::core::CollisionValidation, and hpp::core::ConfigValidations.

◆ removeObstacleFromJoint()

virtual void hpp::core::ConfigValidation::removeObstacleFromJoint ( const JointPtr_t ,
const CollisionObjectPtr_t  
)
inlinevirtual

Remove a collision pair between a joint and an obstacle.

Parameters
thejoint that holds the inner objects,
theobstacle to remove. collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles.

Reimplemented in hpp::core::CollisionValidation, and hpp::core::ConfigValidations.

◆ validate() [1/2]

virtual bool hpp::core::ConfigValidation::validate ( const Configuration_t config,
bool  throwIfInValid 
)
pure virtual

Compute whether the configuration is valid.

Parameters
configthe config to check for validity,
throwIfInValidif true throw an exception if config is invalid.
Returns
whether the whole config is valid.

Implemented in hpp::core::JointBoundValidation, hpp::core::CollisionValidation, and hpp::core::ConfigValidations.

◆ validate() [2/2]

virtual bool hpp::core::ConfigValidation::validate ( const Configuration_t config,
ValidationReport validationReport,
bool  throwIfInValid 
)
pure virtual

Compute whether the configuration is valid.

Parameters
configthe config to check for validity,
Return values
validationReportreport on validation. This object may be specialized by derived implementation to report specific information.
Parameters
throwIfInValidif true throw an exception if config is invalid.
Returns
whether the whole config is valid.

Implemented in hpp::core::CollisionValidation, and hpp::core::ConfigValidations.